WO2020100615A1 - Engin de chantier et procédé de commande d'engin de chantier - Google Patents

Engin de chantier et procédé de commande d'engin de chantier Download PDF

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Publication number
WO2020100615A1
WO2020100615A1 PCT/JP2019/042818 JP2019042818W WO2020100615A1 WO 2020100615 A1 WO2020100615 A1 WO 2020100615A1 JP 2019042818 W JP2019042818 W JP 2019042818W WO 2020100615 A1 WO2020100615 A1 WO 2020100615A1
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WIPO (PCT)
Prior art keywords
rotation speed
engine
controller
pump
speed
Prior art date
Application number
PCT/JP2019/042818
Other languages
English (en)
Japanese (ja)
Inventor
中島　明
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to US17/276,936 priority Critical patent/US11952748B2/en
Priority to CN201980059666.5A priority patent/CN112689704B/zh
Publication of WO2020100615A1 publication Critical patent/WO2020100615A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/50—Signals to an engine or motor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2066—Control of propulsion units of the type combustion engines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/74—Inputs being a function of engine parameters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F16H61/421—Motor capacity control by electro-hydraulic control means, e.g. using solenoid valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F16H61/431—Pump capacity control by electro-hydraulic control means, e.g. using solenoid valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/465—Automatic regulation in accordance with output requirements for achieving a target input speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/472—Automatic regulation in accordance with output requirements for achieving a target output torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/411—Bulldozers, Graders
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
    • E02F3/7613—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers with the scraper blade adjustable relative to the pivoting arms about a vertical axis, e.g. angle dozers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
    • E02F3/7618—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers with the scraper blade adjustable relative to the pivoting arms about a horizontal axis
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7622—Scraper equipment with the scraper blade mounted on a frame to be hitched to the tractor by bars, arms, chains or the like, the frame having no ground supporting means of its own, e.g. drag scrapers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H2059/366—Engine or motor speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/02—Selector apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/14—Inputs being a function of torque or torque demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/468—Automatic regulation in accordance with output requirements for achieving a target input torque

Definitions

  • the present invention relates to a work vehicle and a work vehicle control method.
  • the controller controls the rotation speed of the engine and the displacement of the hydraulic pump.
  • the work vehicle of Patent Document 1 is provided with a fuel adjustment lever for setting the engine rotation speed to a high idle rotation speed and an arbitrary rotation speed lower than that.
  • the controller controls the engine according to the engine torque characteristic set by the fuel adjustment lever.
  • the controller also controls the displacement of the hydraulic pump.
  • the engine is controlled at a low rotation speed, fuel efficiency is expected to improve, but operability may decrease.
  • fuel efficiency is expected to improve, but operability may decrease.
  • the load applied to the work vehicle is different when traveling while working with the work machine and when traveling without work by the work machine.
  • the output horsepower of the engine may be insufficient and the operability may be reduced.
  • the object of the present invention is to suppress deterioration of operability while improving fuel efficiency by controlling the engine at a low rotation speed in a work vehicle.
  • the first aspect is a work vehicle, which includes an engine, a hydraulic pump, a hydraulic motor, and a controller.
  • the hydraulic pump is driven by the engine.
  • the hydraulic motor drives the vehicle by being driven by the hydraulic oil discharged from the hydraulic pump.
  • the controller controls the rotation speed of the engine and the displacement of the hydraulic pump.
  • the controller acquires the traction force of the vehicle.
  • the controller changes the rotation speed of the engine to the low speed side according to the decrease in the traction force.
  • the second mode is the method of controlling the work vehicle.
  • the work vehicle includes an engine, a hydraulic pump driven by the engine, and a hydraulic motor that drives the vehicle by being driven by hydraulic oil discharged from the hydraulic pump.
  • the method includes the following processes.
  • the first process is to acquire the traction force of the vehicle.
  • the second process is to control the rotational speed of the engine and the displacement of the hydraulic pump.
  • the third processing changes the rotation speed of the engine to a low speed side in accordance with the decrease in the traction force.
  • the present invention it is possible to suppress deterioration of operability while improving fuel efficiency by controlling the engine at a low rotation speed in the work vehicle.
  • FIG. 1 is a side view of the work vehicle 1.
  • the work vehicle 1 is a bulldozer.
  • the work vehicle 1 includes a vehicle body 2, a traveling device 3, and a work machine 4.
  • the vehicle body 2 includes a driver's cab 11 and an engine compartment 12.
  • the engine compartment 12 is arranged in front of the cab 11.
  • the traveling device 3 is attached to the lower portion of the vehicle body 2.
  • the traveling device 3 includes a pair of left and right crawler belts 13. In FIG. 1, only the left crawler belt 13 is shown.
  • the work vehicle 1 travels as the crawler belt 13 rotates.
  • the work machine 4 is attached to the vehicle body 2.
  • the work machine 4 includes a lift frame 14 and a blade 15.
  • the lift frame 14 is attached to the vehicle body 2 so as to be vertically movable.
  • the lift frame 14 supports the blade 15.
  • the blade 15 is arranged in front of the vehicle body 2.
  • the work vehicle 1 includes a lift cylinder 16, a tilt cylinder 17, and an angle cylinder 18.
  • the lift cylinder 16, the tilt cylinder 17, and the angle cylinder 18 are connected to the work machine 4.
  • the lift cylinder 16 is connected to the vehicle body 2 and the lift frame 14. As the lift cylinder 16 expands and contracts, the blade 15 moves up and down (hereinafter, referred to as "lift operation”).
  • the tilt cylinder 17 is connected to the lift frame 14 and the blade 15. When the tilt cylinder 17 expands and contracts, the left and right end portions of the blade 15 move up and down to tilt the blade 15 (hereinafter, referred to as “tilt operation”).
  • the angle cylinder 18 is connected to the lift frame 14 and the blade 15. As the angle cylinder 18 expands and contracts, the left and right ends of the blade 15 move back and forth to tilt the blade 15 (hereinafter referred to as "angle operation").
  • FIGS. 2 and 3 are block diagrams showing the configuration of the work vehicle 1.
  • the work vehicle 1 includes an engine 21, a work implement pump 22, a work implement control valve 23, an HST 24 (Hydro Static Transmission), and a controller 25.
  • HST 24 Hydro Static Transmission
  • the engine 21 is an internal combustion engine such as a diesel engine.
  • a fuel injection device 26 is connected to the engine 21.
  • the output of the engine 21 is controlled by adjusting the amount of fuel injected from the fuel injection device 26.
  • the fuel injection amount is adjusted by controlling the fuel injection device 26 by the controller 25.
  • the rotation speed of the engine 21 is detected by the engine speed sensor 27.
  • the engine speed sensor 27 sends a detection signal indicating the rotation speed of the engine 21 to the controller 25.
  • the work implement pump 22 is a variable displacement hydraulic pump.
  • the work implement pump 22 is connected to the engine 21.
  • the work implement pump 22 is driven by the engine 21 and discharges hydraulic oil.
  • the hydraulic fluid discharged from the work implement pump 22 is supplied to the hydraulic actuator 10 via the work implement control valve 23.
  • the hydraulic actuator 10 includes the lift cylinder 16, the tilt cylinder 17, and the angle cylinder 18 described above, and is driven by the hydraulic oil discharged from the working machine pump 22.
  • a work implement pump control device 31 is connected to the work implement pump 22.
  • the work implement pump control device 31 controls the capacity of the work implement pump 22 in accordance with a command signal from the controller 25.
  • the work implement pump control device 31 changes the displacement of the work implement pump 22 by changing the tilt angle of the work implement pump 22.
  • the work implement pump control device 31 includes, for example, a servo piston and a control valve.
  • the tilt angle of the work implement pump 22 is changed by operating the servo piston with the hydraulic oil supplied from the control valve.
  • the capacity means the discharge amount of the hydraulic oil per one rotation of the pump.
  • the work implement control valve 23 is connected to the hydraulic actuator 10 and the work implement pump 22 via a hydraulic circuit.
  • the hydraulic oil discharged from the work implement pump 22 is supplied to the hydraulic actuator 10 via the work implement control valve 23.
  • the work implement control valve 23 controls the flow rate of the hydraulic oil supplied from the work implement pump 22 to the hydraulic actuator 10 in response to a command signal from the controller 25.
  • the work implement control valve 23 may be controlled by being supplied with pilot hydraulic pressure.
  • the HST 24 transmits the driving force of the engine 21 to the traveling device 3.
  • the HST 24 includes a traveling pump 32, a traveling motor 33, and a drive hydraulic circuit 34.
  • the traveling pump 32 is a variable displacement hydraulic pump.
  • the traveling pump 32 is connected to the engine 21.
  • the traveling pump 32 is driven by the engine 21 and discharges hydraulic oil.
  • the traveling pump 32 and the traveling motor 33 are connected by a drive hydraulic circuit 34.
  • the hydraulic oil discharged from the travel pump 32 is supplied to the travel motor 33 via the drive hydraulic circuit 34.
  • a traveling pump control device 35 is connected to the traveling pump 32.
  • the traveling pump control device 35 controls the capacity of the traveling pump 32 in accordance with a command signal from the controller 25.
  • the traveling pump control device 35 changes the displacement of the traveling pump 32 by changing the tilt angle of the traveling pump 32.
  • the traveling pump control device 35 includes, for example, a servo piston and a control valve. The tilt angle of the traveling pump 32 is changed by operating the servo piston with the hydraulic oil supplied from the control valve.
  • the traveling motor 33 is a hydraulic motor and is driven by the hydraulic oil discharged from the traveling pump 32.
  • the traveling motor 33 is connected to the traveling device 3 described above via a drive shaft 36.
  • the traveling motor 33 drives the traveling device 3 to drive the work vehicle 1.
  • the HST 24 is provided with a vehicle speed sensor 37.
  • the vehicle speed sensor 37 detects the vehicle speed.
  • the vehicle speed sensor 37 detects the vehicle speed, for example, by detecting the rotation speed of the drive shaft 36.
  • the vehicle speed sensor 37 sends a detection signal indicating the vehicle speed to the controller 25.
  • a traveling motor control device 38 is connected to the traveling motor 33.
  • the traveling motor control device 38 controls the capacity of the traveling motor 33 according to a command signal from the controller 25.
  • the traveling motor control device 38 changes the displacement of the traveling motor 33 by changing the tilt angle of the traveling motor 33.
  • the traveling motor control device 38 includes, for example, a servo piston and a control valve. The tilt angle of the traveling motor 33 is changed by operating the servo piston with the hydraulic oil supplied from the control valve.
  • the drive hydraulic circuit 34 has a first drive circuit 41 and a second drive circuit 42.
  • the hydraulic oil is supplied from the traveling pump 32 to the traveling motor 33 via the first drive circuit 41, so that the traveling motor 33 is driven in one direction (for example, forward direction).
  • the hydraulic oil is supplied from the traveling pump 32 to the traveling motor 33 via the second drive circuit 42, so that the traveling motor 33 is driven in the other direction (for example, the reverse direction).
  • the drive hydraulic circuit 34 is provided with hydraulic sensors 43 and 44.
  • the hydraulic pressure sensors 43 and 44 detect the pressure (hereinafter, “HST pressure”) of the hydraulic oil supplied to the traveling motor 33 via the first drive circuit 41 or the second drive circuit 42.
  • the hydraulic pressure sensors 43 and 44 send a detection signal indicating the HST pressure to the controller 25.
  • the controller 25 calculates the traction force of the work vehicle 1 from the HST pressure detected by the hydraulic pressure sensors 43 and 44 and the capacity of the traveling motor 33. Therefore, the hydraulic pressure sensors 43 and 44 correspond to the sensors that detect the traction force of the work vehicle 1.
  • the work vehicle 1 includes a work machine operation member 45 and a traveling operation member 46.
  • the work implement operating member 45 and the traveling operating member 46 are arranged in the cab 11.
  • the work implement operating member 45 is, for example, a work implement lever, and is a member for operating the work implement 4.
  • the work implement operating member 45 can be manually operated to the operating position for the lift operation, the tilt operation, and the angle operation of the blade 15.
  • the work machine operating member 45 receives an operation by the operator for driving the work machine 4, and outputs an operation signal according to the operation.
  • the traveling operation member 46 is, for example, a traveling lever and is a member for operating the traveling device 3.
  • the traveling operation member 46 can be manually operated in the forward drive position, the reverse drive position, and the neutral position.
  • the traveling operation member 46 receives an operation by the operator for traveling the work vehicle 1, and outputs an operation signal according to the operation.
  • the operation signal of the work machine operation member 45 and the operation signal of the traveling operation member 46 are output to the controller 25.
  • the work implement operating member 45 and the traveling operating member 46 are not limited to levers, and may be other members such as pedals and switches.
  • the work vehicle 1 includes a rotation speed setting member 28.
  • the rotation speed setting member 28 is arranged in the cab 11.
  • the rotation speed setting member 28 is a member for setting the target rotation speed of the engine 21.
  • the rotation speed setting member 28 is, for example, a dial-shaped member, and is provided so as to be manually operable. However, the rotation speed setting member 28 may be another member such as a lever, a pedal, or a switch.
  • the rotation speed setting member 28 sends an operation signal indicating the operation amount of the rotation speed setting member 28 to the controller 25.
  • the controller 25 sets the target rotation speed according to the operation amount of the rotation speed setting member 28. For example, the operation amount is indicated by a ratio to the maximum operation amount.
  • the work vehicle 1 includes a vehicle speed setting member 29.
  • the vehicle speed setting member 29 is arranged in the cab 11.
  • the vehicle speed setting member 29 is a member for setting the set vehicle speed of the work vehicle 1.
  • the set vehicle speed means a vehicle speed when there is no load. In other words, the set vehicle speed corresponds to the maximum vehicle speed at the gear set by the vehicle speed setting member 29.
  • the vehicle speed setting member 29 includes, for example, a shift up button and a shift down button, and is provided so as to be manually operable.
  • the set vehicle speed is increased by pressing the shift up button, and the set vehicle speed is decreased by pressing the shift down button.
  • the vehicle speed setting member 29 may be another member such as a lever, a pedal, or a switch.
  • the controller 25 determines the set vehicle speed according to the operation of the vehicle speed setting member 29.
  • the controller 25 is programmed to control the work vehicle 1 based on the acquired data.
  • the controller 25 includes a processor 51 and a memory 52.
  • the processor 51 is, for example, a CPU, and executes processing for controlling the engine 21.
  • the memory 52 includes, for example, a volatile memory and a non-volatile memory.
  • the memory 52 is executable by the processor 51 and stores computer instructions for controlling the engine 21.
  • the controller 25 may be composed of a plurality of controllers.
  • the controller 25 may include a controller for the engine 21 and a controller for the pumps 22 and 32.
  • the controller 25 acquires an operation signal from the work machine operation member 45 and the traveling operation member 46.
  • the controller 25 operates the work implement 4 by controlling the work implement control valve 23 according to an operation signal from the work implement operation member 45. Further, the controller 25 drives the work vehicle 1 by controlling the engine 21 and the HST 24 according to an operation signal from the travel operation member 46.
  • the controller 25 controls the fuel injection device 26 to control the output torque and the rotation speed of the engine 21.
  • the controller 25 controls the displacement of the traveling pump 32 by controlling the traveling pump control device 35.
  • the controller 25 controls the travel motor control device 38 to control the capacity of the travel motor 33.
  • the work implement operating member 45 and the traveling operating member 46 may output pilot hydraulic pressure according to an operation, not limited to an electrical operation signal.
  • the controller 25 may detect the pilot hydraulic pressure from the work implement operating member 45 and the traveling operating member 46 by the hydraulic pressure sensor, and acquire the operation signal indicating the pilot hydraulic pressure.
  • the controller 25 controls the rotational speed of the engine 21 and the displacement of the travel pump 32 so that the output torque of the engine 21 and the absorption torque of the travel pump 32 match.
  • the control of the rotation speed of the engine 21 and the displacement of the traveling pump 32 by the controller 25 includes normal matching control and variable matching control.
  • the controller 25 controls the fuel injection amount in the engine 21 according to the load so that the rotation speed of the engine 21 is maintained at the target rotation speed set by the rotation speed setting member 28.
  • the controller 25 increases or decreases the fuel injection amount so as to reduce the difference between the target rotation speed of the engine 21 and the actual rotation speed.
  • FIG. 4 is a diagram showing an example of the engine torque characteristic D1 in the normal matching control.
  • the engine torque characteristic D1 is converted into data and stored in the controller 25.
  • the engine torque characteristic D1 includes a maximum torque line Lmax and a regulation line Lr.
  • the region indicated by the maximum torque line Lmax shows the relationship between the rotation speed of the engine 21 and the upper limit of the torque that the engine 21 can output at each rotation speed.
  • the regulation line Lr is determined according to the target rotation speed set by the rotation speed setting member 28.
  • Lr100 indicates the regulation line Lr when the operation amount of the rotation speed setting member 28 is the maximum operation amount (100%).
  • the target rotation speed is the high idle rotation speed Nmax.
  • the controller 25 changes the regulation line to a lower speed side as the target rotation speed set by the rotation speed setting member 28 becomes smaller.
  • Lr80 indicates the regulation line Lr when the operation amount of the rotation speed setting member 28 is the first operation amount (for example, 80%).
  • the target rotation speed is the first rotation speed Na80 smaller than the high idle rotation speed Nmax.
  • Lr60 indicates the regulation line Lr when the operation amount of the rotation speed setting member 28 is the second operation amount (for example, 60%) smaller than the first operation amount.
  • the target rotation speed is the second rotation speed Na60 which is smaller than the first rotation speed Na80.
  • the controller 25 controls the engine 21 so that the rotation speed of the engine 21 changes on the regulation line according to the load on the engine 21.
  • the load on the engine 21 means the load by the traveling pump 32.
  • the traveling pump 32 is configured such that the absorption torque changes according to the rotation speed of the engine 21 according to the pump absorption torque line D2 shown in FIG.
  • the pump absorption torque line D2 defines the relationship between the rotation speed of the engine 21 and the absorption torque of the traveling pump 32.
  • the pump absorption torque line D2 is converted into data and stored in the controller 25.
  • the controller 25 controls the engine 21 and the traveling pump 32 so that the output torque of the engine 21 and the absorption torque of the traveling pump 32 match on the engine torque characteristic D1.
  • the controller 25 determines the target absorption torque of the traveling pump 32 so that the absorption torque of the traveling pump 32 balances with the output torque of the engine 21 at the matching point where the engine torque characteristic D1 and the pump absorption torque line D2 intersect. For example, as shown in FIG. 4, when the target rotation speed is the first rotation speed Na80, at the matching point M80 where the regulation line Lr80 and the pump absorption torque line D2 intersect, the absorption torque of the traveling pump 32 becomes equal to that of the engine 21.
  • the target absorption torque of the traveling pump 32 is determined so as to balance with the output torque.
  • FIG. 5 is a diagram showing an example of the capacity characteristic D3 of the traveling pump 32.
  • the capacity characteristic D3 of the traveling pump 32 is converted into data and stored in the controller 25.
  • the capacity characteristic D3 of the traveling pump 32 may be represented in the form of a mathematical expression, for example.
  • the displacement characteristic D3 of the traveling pump 32 may be shown in another form such as a table or a map. The same applies to other characteristics and data.
  • the travel pump 32 capacity characteristic D3 defines the relationship between the target absorption torque, the HST pressure, and the travel pump 32 target capacity. As shown in FIG. 5, the displacement characteristic D3 of the traveling pump 32 changes from the displacement characteristic line D31 toward the displacement characteristic line D34 as the target absorption torque is smaller. In the capacity characteristic D3 of the travel pump 32, the smaller the target absorption torque, the smaller the product of the HST pressure and the target capacity of the travel pump 32. In other words, in the capacity characteristic D3 of the travel pump 32, if the target absorption torque is determined, the target capacity of the travel pump 32 decreases as the HST pressure increases.
  • the controller 25 refers to the displacement characteristic D3 of the traveling pump 32 to determine the target displacement of the traveling pump 32 from the target absorption torque and the HST pressure. The controller 25 sends a command signal corresponding to the target displacement of the travel pump 32 to the travel pump control device 35. Thereby, the travel pump 32 is controlled so that the capacity of the travel pump 32 becomes the target capacity.
  • the controller 25 refers to the capacity characteristic D4 of the travel motor 33 and determines the target capacity of the travel motor 33 from the set vehicle speed.
  • FIG. 6 is a diagram showing an example of the capacity characteristic D4 of the traveling motor 33.
  • the capacity characteristic D4 of the travel motor 33 defines the relationship between the target capacity of the travel motor 33 and the set vehicle speed.
  • the capacity characteristic D4 of the traveling motor 33 is converted into data and stored in the controller 25.
  • the controller 25 determines the target capacity of the traveling motor 33 so that the HST pressure becomes a predetermined target pressure.
  • the controller 25 determines the target capacity of the traveling motor 33 such that the HST pressure becomes the target pressure by feedback control.
  • the controller determines the larger one of the target capacity determined from the set vehicle speed and the target capacity determined so that the HST pressure becomes the target pressure as the command target capacity for the traveling motor 33.
  • the controller 25 sends a command signal corresponding to the command target capacity to the travel motor control device 38. Thereby, the traveling motor 33 is controlled so that the displacement of the traveling motor 33 becomes the command target capacity.
  • V1, V2, and V3 indicate examples of set vehicle speeds set by the vehicle speed setting member 29.
  • variable matching control the controller 25 changes the matching point of the output torque of the engine 21 and the absorption torque of the traveling pump 32 to the low speed side of the rotation speed of the engine 21 according to the decrease in the traction force.
  • FIG. 8 is a diagram showing an example of the engine torque characteristic D1 in the variable matching control.
  • the controller 25 changes the matching point from M1 to M4 according to the decrease in traction force.
  • the controller 25 sets the rotational speed of the engine 21 and the displacement of the traveling pump 32 so that the matching points M1-M4 change to the low speed side and the low torque side of the rotation speed of the engine 21 in accordance with the decrease in the traction force.
  • Control. Specifically, the controller 25 changes the matching point by changing the regulation line Lr of the engine torque characteristic D1 and the pump absorption torque line D2 according to the traction force.
  • FIG. 9 is a diagram showing an example of the rotation speed-traction force data D5 that defines the relationship between the target rotation speed of the engine 21 and the traction force.
  • the rotation speed-traction force data D5 is stored in the controller 25.
  • the target rotation speed decreases as the traction force decreases in the range between at least the first traction force threshold Fth1 and the second traction force threshold Fth2.
  • the second traction force threshold Fth2 is larger than the first traction force threshold Fth1.
  • the target rotation speed is constant at the first upper limit speed Na_hi.
  • the first upper limit speed Na_hi is, for example, the high idle rotation speed Nmax.
  • the first upper limit speed Na_hi may be a value different from the high idle rotation speed Nmax.
  • the target rotation speed is constant at the first lower limit speed Na_low.
  • the first lower limit speed Na_low is smaller than the first upper limit speed Na_hi.
  • the first traction force threshold Fth1 and the second traction force threshold Fth2 change according to the set vehicle speed. That is, the rotation speed-traction force data D5 defines the relationship between the target rotation speed and the traction force that changes according to the set vehicle speed.
  • FIG. 10 is a diagram showing an example of the traction force threshold data D6 that defines the relationship between the first traction force threshold Fth1 and the second traction force threshold Fth2 and the set vehicle speed.
  • the tractive force threshold value data D6 includes first tractive force threshold value data D61 and second tractive force threshold value data D62.
  • the first tractive force threshold data D61 defines the relationship between the first tractive force threshold Fth1 and the set vehicle speed.
  • the second tractive force threshold data D62 defines the relationship between the second tractive force threshold Fth2 and the set vehicle speed.
  • the first tractive force threshold Fth1 decreases as the set vehicle speed increases.
  • the second tractive force threshold Fth2 decreases as the set vehicle speed increases.
  • the controller 25 refers to the first tractive force threshold value data D61 and determines the first tractive force threshold value Fth1 from the set vehicle speed.
  • the controller 25 refers to the second tractive force threshold data D62 and determines the second tractive force threshold Fth2 from the set vehicle speed.
  • the controller 25 determines the target rotation speed from the traction force with reference to the rotation speed-traction force data D5.
  • the controller 25 calculates the traction force from the product of the capacity of the traveling motor 33 and the HST pressure, for example.
  • the controller 25 determines the regulation line Lr based on the target rotation speed. As described above, in the rotation speed-traction force data D5, the target rotation speed decreases as the traction force decreases in the range where the traction force is between the first traction force threshold Fth1 and the second traction force threshold Fth2. Therefore, when the traction force is in the range between the first traction force threshold Fth1 and the second traction force threshold Fth2, the controller 25 changes the regulation line Lr to the low rotation speed side according to the decrease in the traction force. 21 is controlled.
  • FIG. 11 is a diagram showing an example of pump rotation speed data D7 that defines the relationship between the reference rotation speed and the target rotation speed.
  • the reference rotation speed Nb is the rotation speed of the engine 21 when the absorption torque of the traveling pump 32 reaches the upper limit value Tp_max on the pump absorption torque line D2.
  • the absorption torque of the traveling pump 32 is constant at the upper limit value Tp_max when the rotation speed of the engine 21 is equal to or higher than the reference rotation speed Nb.
  • the absorption torque of the traveling pump 32 decreases as the rotation speed of the engine 21 decreases.
  • the reference rotation speed is reduced according to the decrease in the target rotation speed.
  • the speed Nb decreases.
  • the second speed threshold Nth2 is larger than the first speed threshold Nth1.
  • the reference rotation speed Nb is constant at the second upper limit speed Nb_hi.
  • the second upper limit speed Nb_hi is, for example, the high idle rotation speed Nmax.
  • the second upper limit speed Nb_hi may be a value different from the high idle rotation speed Nmax.
  • the reference rotation speed Nb is constant at the second lower limit speed Nb_low.
  • the second lower limit speed Nb_low is smaller than the second upper limit speed Nb_hi.
  • the controller 25 determines the reference rotation speed Nb from the target rotation speed by referring to the pump rotation speed data D7.
  • the absorption torque has the upper limit value Tp_max at the reference rotation speed Nb, and at the rotation speed smaller than the reference rotation speed Nb, the absorption torque decreases at a predetermined rate according to the decrease in the rotation speed. Therefore, the controller 25 determines the pump rotation torque line D2 by determining the reference rotation speed Nb.
  • the reference rotation speed Nb decreases according to the decrease in the target rotation speed.
  • the controller 25 changes the reference rotation speed Nb to the low speed side according to the decrease of the target rotation speed.
  • the controller 25 controls the displacement of the traveling pump 32 so that the pump absorption torque line D2 changes to the low speed side of the rotation speed of the engine 21 according to the decrease of the target rotation speed.
  • the controller 25 determines the intersection of the pump absorption torque line D2 and the regulation line Lr determined as described above as a matching point. Then, the controller 25 controls the rotational speed of the engine 21 and the displacement of the travel pump 32 so that the output torque of the engine 21 and the absorption torque of the travel pump 32 are balanced at the matching point.
  • the controller 25 determines the target rotation speed Na1 when the traction force has a certain value, and determines the regulation line Lr1 from the target rotation speed Na1. Further, the controller 25 determines the reference rotation speed Nb1 from the target rotation speed Na1 and determines the pump absorption torque line Lp1 from the reference rotation speed Nb1. Then, the controller 25 determines the intersection of the regulation line Lr1 and the pump absorption torque line Lp1 as the matching point M1. The controller 25 controls the rotational speed of the engine 21 and the displacement of the travel pump 32 so that the output torque of the engine 21 and the absorption torque of the travel pump 32 are balanced at the matching point M1. The method of determining the capacity of the traveling pump 32 is the same as that of the normal matching control described above.
  • the controller 25 sequentially decreases the target rotation speed from Na1 to Na2, Na3, and then to Na4. As a result, the controller 25 changes the regulation line from Lr1 to Lr4 via Lr2 and Lr3. Further, the controller 25 reduces the reference rotation speed Nb of the pump absorption torque line D2 from Nb1 to Nb4 through Nb2 and Nb3 in accordance with the decrease in the target rotation speed. Thereby, the controller 25 changes the pump absorption torque line D2 from Lp1 to Lp4 via Lp2 and Lp3. As a result, the matching point changes from M1 to M4 through M2 and M3.
  • the controller 25 selectively executes the above-described normal matching control and variable matching control.
  • the controller 25 determines that the target rotation speed of the engine 21 (hereinafter, referred to as “first target rotation speed”) determined in the variable matching control is the target rotation speed set by the rotation speed setting member 28 (hereinafter, “second target rotation speed”).
  • first target rotation speed the target rotation speed set by the rotation speed setting member 28
  • second target rotation speed the target rotation speed set by the rotation speed setting member 28
  • the controller 25 controls the engine 21 and the traveling pump 32 by the normal matching control. Therefore, the controller 25 determines the smaller one of the first target rotation speed and the second target rotation speed as the target rotation speed of the engine 21.
  • the controller 25 sets the matching point between the output torque of the engine 21 and the absorption torque of the traveling pump 32 to the low speed side of the rotation speed of the engine 21 in accordance with the decrease in the traction force, and , Change to low torque side. Therefore, the controller 25 can change the matching point to the low speed side of the rotation speed of the engine 21 when the load applied to the work vehicle 1 is small. As a result, it is possible to suppress deterioration in operability while improving fuel efficiency.
  • the rotation speed-traction force data D5 defines the relationship between the target rotation speed and the traction force, which changes according to the set vehicle speed. Thereby, an appropriate target rotation speed can be set according to the set vehicle speed and the traction force.
  • the controller 25 determines the smaller one of the first target rotation speed and the second target rotation speed as the target rotation speed of the engine 21. Therefore, when the first target rotation speed determined by the variable matching control is smaller than the second target rotation speed set by the operator, the first target rotation speed is determined as the target rotation speed. Thereby, fuel consumption can be improved. Further, when the second target rotation speed set by the operator is smaller than the first target rotation speed determined by the variable matching control, the second target rotation speed is determined as the target rotation speed. As a result, it is possible to obtain the output of the engine 21 that matches the operator's intention.
  • the work vehicle 1 is not limited to a bulldozer, and may be another work vehicle 1 such as a hydraulic excavator, a wheel loader, or a grader.
  • the traveling device 3 is not limited to the crawler belt, and may include other members such as tires.
  • the working machine 4 is not limited to the blade, and may include other members such as a bucket.
  • the hydraulic actuator is not limited to the lift cylinder, tilt cylinder, and angle cylinder described above, and may be another actuator.
  • the configuration of the HST is not limited to that of the above embodiment and may be changed.
  • the HST may have multiple traction motors.
  • the HST may have multiple traveling pumps.
  • the method of determining the target rotation speed of the engine, the target displacement of the traveling pump, or the target displacement of the traveling motor is not limited to that in the above embodiment, and may be changed.
  • the engine torque characteristic, the traction force-vehicle speed characteristic, the pump absorption torque line, and the capacity characteristic of the traveling pump 32 are not limited to those in the above embodiment, and may be changed.
  • the rotation speed-traction force data, the first traction force threshold value data, and the pump rotation speed data are not limited to those in the above embodiment, and may be changed.
  • the present invention it is possible to suppress deterioration of operability while improving fuel efficiency by controlling the engine at a low rotation speed in the work vehicle.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Fluid Gearings (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

L'invention concerne une pompe hydraulique entraînée par un moteur. En étant entraînée par une huile hydraulique refoulée depuis la pompe hydraulique, un moteur hydraulique amène le véhicule à se déplacer. Un contrôleur commande la vitesse du moteur et la capacité de la pompe hydraulique. Le contrôleur acquiert la force de traction du véhicule. Le contrôleur modifie la vitesse du moteur vers le côté basse vitesse en réponse à une réduction de la force de traction.
PCT/JP2019/042818 2018-11-16 2019-10-31 Engin de chantier et procédé de commande d'engin de chantier WO2020100615A1 (fr)

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US17/276,936 US11952748B2 (en) 2018-11-16 2019-10-31 Work vehicle and control method for work vehicle
CN201980059666.5A CN112689704B (zh) 2018-11-16 2019-10-31 作业车辆以及作业车辆的控制方法

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JP2018215803A JP7245582B2 (ja) 2018-11-16 2018-11-16 作業車両、及び作業車両の制御方法
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WO2005056933A1 (fr) * 2003-12-09 2005-06-23 Komatsu Ltd. Dispositif et procédé de réglage d'une commande hydraulique de machines de construction
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CN114312298B (zh) * 2022-01-29 2023-12-15 潍柴动力股份有限公司 一种单发洗扫车及其控制方法

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CN112689704A (zh) 2021-04-20
US20220034069A1 (en) 2022-02-03
JP2020085034A (ja) 2020-06-04
US11952748B2 (en) 2024-04-09
CN112689704B (zh) 2023-07-25
JP7245582B2 (ja) 2023-03-24

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